CLIFE: Camera-LiDAR Fusion Framework for Edge-Deployable Roadside VRU Perception

TL;DR - CLIFE is an edge-native camera–LiDAR fusion framework for real-time roadside detection and tracking of vulnerable road users. It improves robustness across lighting and weather conditions while running entirely on embedded hardware without cloud offloading.

• Combines targetless online camera–LiDAR calibration with lightweight late-fusion tracking.
• Achieves O(N log N) per-frame fusion and track-association complexity.
• Deployed across 12 signalized intersections and evaluated with daytime, nighttime, and varied-weather data.
• Its late-fusion core reaches 53.2 FPS on an NVIDIA Jetson AGX Thor.